Posts by HomerJ

Quote from Atomant

Does anyone know how to detect the robot group (g1,g2) when teach mode is on. I think im looking for a variable or parameter name.

This is probably very late, but if you want to know the active group you can get it using this variable

$MLT_GRP_DO.$JOG_GROUP

After contacting FANUC, the problem seemed to be just the wait statement used

Instead of using the WAIT .... I should have used WAIT (...)

Quote from gpunkt

Which Start number on Rack 48/Slot 1?

101-112

So basically, I created a macro like in the picture, incremental on a certain axis only

image.png

And then set it up in the Macro table to run on a flag

It is configured to rack 48 and slot 1

DO[107] controls a torch cleaner

It is the same line repeated, it does fail on both of them

I managed to find a way, by creating a macro and assigning it to the signal I wanted I was able to execute exactly what I wanted.

Hi everyone,

I am having a problem where a wait condition is failing in a weird way.

My program part that is failing looks like this

  22:L P[3] 500mm/sec FINE    ;
  23:L P[5] 500mm/sec FINE    ;
  24:  DO[107]=PULSE,1.0sec ;
  25:  WAIT   1.00(sec) ;
  26:  WAIT DI[107]=ON    ;
  27:  WAIT    .25(sec) ;
  28:L P[3] 500mm/sec FINE    ;

Basically, on line 26 I am randomly getting error INTP - 230, wait condition failed.

Any ideas?
Thanks

Well the idea is it is a collaborative robot, and I can move it with hand, so in software I have the ability to make it work without the deadman. But I am trying to find a way to jog it with or without the deadman, I mainly care about the ability to do it without using the fanuc interface and rely on signals only

I need it to be done in teach mode.

Hi
I am currently working on a project where I need to jog the robot without the teach pendant, I am trying to move the robot in a similar way to fanuc's jog panel, but using an IO signal or a flag.

Does anyone know a way to do so?

Thanks

Quote from JT

See attached code which contains a non supported build-in. Not all movement types are supported but it might do the trick for your application.

Fanuc is not keen on supporting movement in Karel. Their vision is that all generated points should be teached by a qualified operator in TP. Karel logic programs can then call these teached movement TP programs.
But FANUC seems to forget that in some cases you have to use the readily available robot kinematic model on the controller to compute or convert points during operation, so it is easier to let the controller generate the TP programs without any link to a PC/software. On the opposite of the attached code typically a software is used to create the TP program structure and points offline which is then uploaded to the controller. In the latter if anything goes wrong the software is to blame and not the controller. I guess it is a question of liability.

Have fun!

JT, do you know if we can create weld statements using mnemonics ? I have been trying to figure it out but I wasn't able to reproduce a functioning statement.

I also tried to read in a statement that is already written and look at its mnemonics values, but this returned an array of 255s.